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Randy Beard
Associate Professor
Electrical Engineering
Brigham Young University
Provo, Utah 84602
voice: (801) 422-8392
fax:    (801) 422-0201
email: beard@ee.byu.edu


Research
Publications
Courses
Graduate Students
Biography

Directions to BYU
Magicc Lab
Videos

Helps for Students
Publications:


Book Chapters
  1. Wei Ren, Randal W. Beard, Timothy W. McLain, "Coordination Variables and Consensus Building in Multiple Vehicle Systems,'' Block Island Workshop on Cooperative Control, Editors Vijay Kumar, Naomi Leonard, A. Stephen Morse, Lecture Notes in Control and Information Systems, vol. 309, Springer-Verlag, p. 171--188, 2004.

Journal Publications  (Reprints are available upon request.)

  1. Randal Beard, Timothy Mclain, Derek Nelson, Derek Kingston, "Decentralized Cooperative Aerial Surveillance using Fixed-Wing Miniature UAVs,"  IEEE Proceedings:  Special Issue on Multi-Robot Systems,  (to appear).  [Technical Report available at https://dspace.byu.edu/handle/1877/60].

  2. David W. Casbeer, Derek B. Kingston, Randal W. Beard, Timothy W. McLain, Sai-Ming Li, Raman Mehra, "Cooperative Forest Fire Surveillance Using a Team of Small Unmanned Air Vehicles,"  International Journal of Systems Sciences,  vol. 37, no. 6, May 2006, p. 351-360. Request Reprint.

  3. Randal W. Beard, D.J. Lee, Morgan Quigley, Sarita Thakoor, Steve Zornetzer, "A New Approach to Observation of Descent and Landing of Future Mars Mission Using Bioinspired Technology Innovations", AIAA Journal of Aerospace Computing, Information, and Communication, vol. 2, no. 1, January, 2005, p. 65-91.  Request Reprint.

  4. Randal Beard, Derek Kingston, Morgan Quigley, Deryl Snyder, Reed Christiansen, Walt Johnson, Timothy Mclain, Mike Goodrich, "Autonomous Vehicle Technologies for Small Fixed Wing UAVs,"  AIAA Journal of Aerospace Computing, Information, and Communication, vol. 2, no. 1, January, 2005, p. 92-108.  Request Reprint.

  5. Wei Ren, Randal W. Beard, "Consensus Seeking in Multi-agent Systems Using Dynamically Changing Interaction Topologies,"  IEEE Transactions on Automatic Control, vol. 5, no. 5, May, 2005, p. 655-661.   Request Reprint.
  6. Erik P. Anderson, Randal W. Beard, Timothy W. McLain, "Real Time Dynamic Trajectory Smoothing for Uninhabited Aerial Vehicles," IEEE Transactions on Control Systems Technology, vol. 13, no. 3, May, 2005, p. 471-477.  Request Reprint.
  7. Timothy W. McLain, Randal W. Beard, "Coordination Variables, Coordination Functions, and Cooperative Timing Missions," AIAA Journal of Guidance, Control, & Dynamics, vol. 28, no. 1, January, 2005, p. 150-161. Request Reprint.
  8. J. Willard Curtis, Randal W. Beard, "A Complete Parameterization of CLF-Based Input-to-State Stabilizing Control Laws," International Journal of Robust and Nonlinear Control, vol. 14, 2004, p. 1393-1420.  Request Reprint.
  9. Wei Ren, Randal W. Beard, "Trajectory Tracking for Unmanned Air Vehicles with Velocity and Heading Rate Constraints," IEEE Transactions on Control Systems Technology, vol. 12, no. 5, September, 2004, p. 706-716. Request Reprint.
  10. J. Willard Curtis, Randal W. Beard, "Satisficing: A New Approach to Constructive Nonlinear Control," IEEE Transactions on Automatic Control, vol. 49, no. 7, July, 2004, p. 1090-1102. Request Reprint.
  11. Wei Ren, Randal W. Beard, "Formation Feedback Control for Multiple Spacecraft via Virtual Structures," IEE Proceedings - Control Theory and Applications, vol. 151, no. 3, May, 2004, p. 357-368. Request Reprint.
  12. James K. Archibald, Randal W. Beard,  "Robot Soccer for Undergraduate Students,"  IEEE Robotics and Automation Magazine,Volume 11, Number 1, March 2004, p. 70-75, Request Reprint.
  13. Wei Ren, Randal W. Beard, "A Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach," AIAA Journal of Guidance, Control and Dynamics, vol. 27, no. 1, January 2004, p. 73-82, Request Reprint.
  14. Jonathan Lawton, Randal Beard, Brett Young, "A Decentralized Approach To Formation Maneuvers," IEEE Transactions on Robotics and Automation, Volume 19, Number 6, December 2003, p. 933-941, Request Reprint.
  15. Jonathan Lawton, Randal W. Beard, "Attitude Regulation About a Fixed Rotation Axis," AIAA Journal of Guidance, Control, & Dynamics, Volume 26, Number 2, March 2003, p. 253-258, Request Reprint.
  16. Randal W. Beard, Timothy W. McLain, Michael Goodrich, Erik P. Anderson, "Coordinated Target Assignment and Intercept for Unmanned Air Vehicles," IEEE Transactions on Robotics and Automation, vol. 18, no. 6, December 2002, p. 911-922. Request Reprint.
  17. Jonathan Lawton, Randal W. Beard, "Synchronized Multiple Spacecraft Rotations," Automatica, Vol. 38, No. 8, August 2002, p. 1359-1364. Request Reprint.
  18. Randal W. Beard, "Linear Operators with Application in Control and Signal Processing," IEEE Control Systems Magazine, Vol 22, No 2, April 2002, p. 69--79, Request Reprint.
  19. Christopher A. Bailey, Timothy W. McLain, Randal W. Beard, "Fuel Saving Strategies for Dual Spacecraft Interferometry Missions,"  Journal of the Astronatical Sciences, Volume 49, Number 3, pp. 469-488, July-September, 2001, Request Reprint.
  20. Richard D. Abbott, Timothy W. McLain, Randal W. Beard, "Validation of a Synthesis Technique for the Optimal Control of an Electro-hydraulic Positioning System," ASME Journal of Dynamic Systems, Measurement, and Control, vol.~123, September 2001, p.377-384, Request Reprint.
  21. Randal W. Beard, Jonathan Lawton, Fred Y. Hadaegh, "A Coordination Architecture for Spacecraft Formation Control," IEEE Transactions on Control Systems Technology, Vol 9, No 6, November 2001, p. 777-790, Request Reprint.
  22. Randal W. Beard, Timothy W. McLain, Fred Y. Hadaegh, "Fuel Optimization for Constrained Rotation of Spacecraft Formations," AIAA Journal of Guidance, Control, and Dynamics, vol. 23, no. 2, March-April, 2000, pp. 339-346. Request Reprint.
  23. Randal W. Beard, Fred Y. Hadaegh, "Fuel Optimization for Unconstrained Rotation of Spacecraft Formations," Journal of the Astronautical Sciences, vol. 43, no. 3, July-December, 1999, pp. 259-273. Request Reprint.
  24. Randal Beard, Jacob Gunther, Jonathan Lawton, Wynn Stirling, "Nonlinear Projection Filter Based on Galerkin Approximation," AIAA Journal of Guidance Control and Dynamics, vol. 22, no. 2, March-April, 1999, pp 258-266. Request Reprint.
  25. Randal W. Beard, Timothy W. McLain, "Successive Galerkin Approximation Algorithms for Nonlinear Optimal and Robust Control," International Journal of Control: Special Issue on Recent Advances in the Control of Nonlinear Systems, vol. 71, no. 5, pp. 717-743, 1998. Request Reprint.
  26. Randal Beard, George Saridis, John Wen, "Approximate Solutions to the Time-Invariant Hamilton-Jacobi-Bellman Equation," Journal of Optimization Theory and Application, vol 96, no. 3, March 1998, pp. 589-626. Request Reprint.
  27. Randal Beard, George Saridis, John Wen, "Galerkin Approximations of the Generalized Hamilton-Jacobi-Bellman Equation," Automatica 33:12, December, pp. 2159-2177, 1997. Request Reprint.
  28. Randal Beard, George Saridis, John Wen, "Improving the Performance of Stabilizing Controls for Nonlinear Systems," IEEE Control Systems Magazine, volume 16, number 5, pp 27-35, October 1996. Request Reprint.

Conference Papers  (Reprints are available upon request.)

  1. Randal W. Beard, Chengyu Cao, Naira Hovakimyan, "An L1 Adaptive Pitch Controller for Miniature Air Vehicles," AIAA Conference on Guidance, Navigation, and Control,  Keystone CO, 2006.  (to appear).
  2. Brandon Call, Randal W. Beard, Clark Taylor, "Obstacle Avoidance for Unmanned Air Vehicles Using Image Feature Tracking," AIAA Conference on Guidance, Navigation, and Control,  Keystone CO, 2006.  (to appear).
  3. Nathan B. Knoebel, Stephen R. Osborne, Joshua S. Matthews , Randal W. Beard, "Computationally Simple Model Reference Adaptive Control for Miniature Air Vehicles,"  American Control Conference, Minneapolis, Minnesota, June 2006, (to appear) PDF Preprint.
  4. Joshua S. Matthews, Nathan B. Knoebel, Stephen R. Osborne, Randal W. Beard, "Adaptive Backstepping Control for Miniature Air Vehicles,"  American Control Conference, Minneapolis, Minnesota, June 2006, (to appear)   PDF Preprint.
  5. Derek R. Nelson, D. Blake Barber, Timothy W. McLain, Randal W. Beard, "Vector Field Path Following for Small Unmanned Air Vehicles,"   American Control Conference, Minneapolis, Minnesota, June 2006, (to appear)   PDF Preprint.
  6. Joshua Redding, Timothy W. McLain, Randal W. Beard, Clark Taylor, "Vision-based Target Localization from a Fixed-wing Miniature Air Vehicle,"   American Control Conference, Minneapolis, Minnesota, June 2006, (to appear)   PDF Preprint.
  7. Derek Kingston, Randal Beard, "Discrete-Time Average-Consensus under Switching Network Topologies,"  American Control Conference, Minneapolis, Minnesota, June 2006, (to appear)
  8. Bryce B. Ready, Clark N. Taylor, Randal W. Beard, "A Kalman-filter Based Method for Creation of Super-resolved Mosaicks," International Conference on Robotics and
    Automation    , Orlando, FL, May, 2006, pp. 3417-3422.   PDF Preprint.
  9. Jeffrey B. Saunders, Brandon Call, Andrew Curtis, Randal W. Beard, Timothy W. McLain, "Static and Dynamic Obstacle Avoidance in Miniature Air Vehicles,"  AIAA Infotech@Aerospace, Arlington, VA, September, 2005, Paper no. AIAA-2005-6950.  PDF.
  10. D. Blake Barber, Stephen R. Griffiths, Timothy W. McLain, Randal W. Beard, "Autonomous Landing of Miniature Aerial Vehicles,"  AIAA Infotech@Aerospace, Arlington, VA, September, 2005, Paper no. AIAA-2005-6949.  PDF.
  11. Derek B. Kingston, Randal W. Beard, David W. Casbeer, "Decentralized Perimeter Surveillance Using a Team of UAVs,"  AIAA Conference on Guidance, Navigation, and Control, (to appear).  [Technical Report available at https://dspace.byu.edu/handle/1877/57].
  12. Wei Ren, Randal W. Beard, Derek B. Kingston, "Multi-agent Kalman Consensus with Relative Uncertainty," American Control Conference, Portland, OR, June, 2005, p. 1865-1870. PDF.
  13. Wei Ren, Randal W. Beard, "Satisficing Approach to Human-in-the-Loop Safeguarded Control,"  American Control Conference, Portland, OR, June, 2005, p. 4985--4990. PDF.
  14. Wei Ren, Ji-Sang Sun, Randal W. Beard, Timothy W. McLain, "Nonlinear Tracking Control for Nonholonomic Mobile Robots with Input Constraints:  An Experimental Study,"  American Control Conference, Portland, OR, June, 2005, p. 4923-4928. PDF.
  15. Derek B. Kingston, Wei Ren, Randal W. Beard, "Consensus Algorithms are Input-to-State Stable,"  American Control Conference, Portland, OR, June, 2005, p. 1859-1864. PDF.
  16. David W. Casbeer, Randal W. Beard, Timothy W. McLain, Sai-Ming Li, Raman K. Mehra, "Forest Fire Monitoring Using Multiple Small Unmanned Air Vehicles,"  American Control Conference, Portland, OR, June, 2005, p. 3530-3535. PDF.
  17. Wei Ren, Randal W. Beard,  "A Survey of Consensus Problems in Multi-agent Coordination,"  American Control Conference, Portland, OR, June, 2005, p. 1859-1864. PDF.
  18. Morgan Quigley, Michael A. Goodrich, Steve Griffiths, Andrew Eldredge, Randal W. Beard, "Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera,"  IEEE International Conference on Robotics and Automation, April, 2005, p. 2600-2605.
  19. P.C. Merrell, D.J. Lee, R.W. Beard, "Obstacle Avoidance for Unmanned Air Vehicles Using Optical Flow Probability Distributions,"  SPIE Optics East, Robotics Technologies and Architectures,  Mobile Robot XVII, vol. 5609-04, Philidelphia, PA, October, 2004. PDF.
  20. D.J. Lee, R. W. Beard, P.C. Merrel, P. Zhan, "See and Avoidance Behaviors for Autonomous Navigation,"  SPIE Opics East, Robotics Technologies and Architectures, Mobile Robot XVI, vol. 5609-05, Philadelphia, PA, October, 2004. PDF.
  21. P. Zhan, D.J. Lee, and R.W. Beard, “Solving Correspondence Problem Using 1-D Signal Matching," SPIE OpticsEast, Robotics Technologies and Architectures, Intelligent Robots and Computer Vision XXII, vol. 5608-24, Philadelphia, PA USA, October 25-28, 2004, PDF.
  22. P.C. Merrell, D.J. Lee, and R.W. Beard, “Statistical Analysis of Multiple Optical Flow Values for Estimation of Unmanned Air Vehicles Height Above Ground”, SPIE OpticsEast, Robotics Technologies and Architectures, Mobile Robot XVII, vol. 5608-28, Philadelphia, October 25-28, 2004, PDF.
  23. Morgan Quigley, Michael A. Goodrich, Randal W. Beard, "Semi-Autonomous Human-UAV Interfaces for Fixed-Wing Mini-UAVs,"  IROS, (to appear) [Technical Report, Brigham Young University, 2004, https://dspace.lib.byu.edu/handle/1877/23].
  24. Derek R. Nelson, Timothy W. McLain, Reed S. Christiansen, Randal W. Beard, David Johansen, "Initial Experiements in Cooperative Control of Unmanned Air Vehicles,"   AIAA 3rd Unmanned Unlimited Systems Conference and Workshop,  Chicago, Il, September, 2004, Paper no. AIAA-2004-6533, (to appear) PDF.
  25. Derek B. Kingston, Randal W. Beard, "Real-Time Attitude and Position Estimation for Small UAVs Using Low-Cost Sensors,"  AIAA 3rd Unmanned Unlimited Systems Conference and Workshop,  Chicago, Il, September, 2004, Paper no. AIAA-2004-6488, (to appear) PDF.
  26. Tim McLain, Randal W. Beard, "Unmanned Air Vehicle Testbed for Cooperative Control Experiments," American Control Conference, Boston, MA, June, 2004, p. 5327-5331. PDF.
  27. Josiel A. Gouvea, Fernando Lizarralde, Randal W. Beard, "Control of Passive Systems using the Satisficing Paradigm," American Control Conference, Boston, MA, June, 2004, p. 1067-1072 PDF.
  28. Wei Ren, Randal W. Beard, "Constrained Nonlinear Tracking Control For Small Fixed-wing Unmanned Air Vehicles," American Control Conference, Boston, MA, June, 2004, p. 4663-4668. PDF.
  29. Wei Ren, Randal W. Beard, "Consensus of Information Under Dynamically Changing Interaction Topologies," American Control Conference, Boston, MA, June, 2004, p. 4939-4944. PDF.
  30. Matthew A. Blake, Gerrit A. Sorensen, James K. Archibald, Randal W. Beard, "Human Assisted Capture-the-Flag in an Urban Environment," IEEE International Conference on Robotics and Automation, New Orleans, LA, April, 2004, p. 1167-1172,  PDF.
  31. Randal W. Beard, Timothy W. McLain "Multiple UAV Cooperative Search under Collision Avoidance and Limited Range Communication Constraints," IEEE Conference on Decision and Control, 2003, Maui, Hawaii, December 2003, p. 25-30, PDF.
  32. Randal W. Beard, Vahram Stepanyan "Synchronization of Information in Distributed Multiple Vehicle Coordinated Control," IEEE Conference on Decision and Control, 2003, Maui, Hawaii, December 2003, p. 2029-2034, PDF.
  33. Wei Ren, Randal W. Beard, "CLF-based Tracking Control for UAV Kinematic Models with Saturation Constraints," IEEE Conference on Decision and Control, 2003, Maui, Hawaii, December 2003, p. 3924-3929, PDF.
  34. Derek Kingston, Randal Beard, Timothy McLain, Michael Larsen, Wei Ren,  "Autonomous Vehicle Technologies for Small Fixed Wing UAVs,"  AIAA 2nd Unmanned Unlimited Systems, Technologies, and Operations--Aerospace, Land, and Sea Conference and Workshop \& Exhibit, San Diego, CA, September, 2003, Paper no. AIAA-2003-6559.  PDF.
  35. Timothy W. McLain, Randal W. Beard, "Coordination Variables, Coordination Functions, and Cooperative Timing Missions," American Control Conference, Denver, CO, June, 2003, p. 296-301.  PDF.
  36. Wei Ren, Randal W. Beard, "A Decentralized Scheme for Spacecraft Formation Flying via the Virtual Structure Approach," 2003 American Control Conference, Denver, CO, June, 2003, p. 1746-1751. PDF.
  37. J. Willard Curtis, Randal W. Beard "A Graphical Understanding of Lyapunov-based Nonlinear Control," 2002 IEEE Conference on Decision and Control, Las Vegas, NV, 2002, p. 2278-2283, Postscript.
  38. J. Willard Curtis, Randal W. Beard "Ensuring Stability of State-Dependent Riccati Equation Controller via Satisficing," 2002 IEEE Conference on Decision and Control, Las Vegas, NV, 2002, p. 2645-2650, PDF.
  39. Wei Ren, Randal W. Beard, J. Willard Curtis "Satisficing Control for Multi-agent Formation Maneuvers," IEEE Conference on Decision and Control, Las Vegas, NV, 2002, p. 2433--2438, Postscript.
  40. Walter H. Johnson, Rob Franklin, Randal W. Beard, James K. Archibald, "Effective Ball Handling and Control in Robot Soccer," International Telemetering Conference, San Diego, CA, October, 2002, pp. 461-469, Best undergraduate student paper award,  PDF.
  41. Steven A. R. Olson, Chad S. Dawson, Jared Jacobson, James K. Archibald, Randal W. Beard, "Design and Development of an Autonomous Soccer-Playing Robot," International Telemetering Conference, San Diego, CA, October, 2002, pp. 684-691, Best graduate student paper award,  PDF.
  42. Erik P. Anderson, Randal W. Beard, "An Algorithmic Implementation of Constrained Extremal Control for UAVs," AIAA Guidance and Control Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4470, PDF.
  43. Timothy W. McLain, Randal W. Beard, Jed M. Kelsey, "Experimental Demonstration of Multiple Robot Cooperative Target Intercept," AIAA Guidance and Control Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4678, PDF.
  44. Wei Ren, Randal W. Beard, "Virtual Structure based Spacecraft Formation Control with Formation Feedback," AIAA Guidance and Control Conference, Monterey, CA, August 2002, AIAA Paper no. 2002-4963, PDF.
  45. Sai-Ming Li and Jovan D. Boskovic and Sanjeev Seereeram and Ravi Prasanth and Jayesh Amin and Raman K. Mehra and Randal Beard, "Autonomous Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs)," American Control Conference, Anchorage, Alaska, May, 2002, pp. 274--279, postscript, PDF.
  46. Randal W. Beard and James K. Archibald and Steven A. Olson, "Robot Soccer as a Culminating Design Project for Undergraduates," American Control Conference, Anchorage, Alaska, May, 2002, pp. 1086--1091, postscript, PDF.
  47. Randal W. Beard, Timothy W. McLain, Michael Goodrich, Erik P. Anderson, "Coordinated Target Assignment and Intercept for Unmanned Air Vehicles," IEEE International Conference on Robotics and Automation, Washington DC, May, 2002, pp. 2581-2586, PDF.
  48. Brett Young, J. Willard Curtis, Randal W. Beard, "Nonlinear Robust Regulation Using the Satisficing Paradigm", IEEE Conference on Decision and Control, Orlando, FL, December 2001, pp. 2791-2796. Postscript.
  49. J. Willard Curtis, Randal W. Beard, "A Model-Predictive Satisficing Approach to a Nonlinear Tracking Problem", IEEE Conference on Decision and Control, Orlando, FL, December 2001, pp. 491--495. Postscript.
  50. J. Willard Curtis, Randal W. Beard, "Successive Collocation: An Approximation to Optimal Nonlinear Control," American Control Conference, Arlington, VA, June 25-27, 2001, pp. 3481-3485. Postscript, PDF.
  51. Jonathan Lawton, Randal W. Beard, "Model Independent Eigenaxis Maneuvers using Quaternion Feedback," American Control Conference, Arlington, VA, June 25-27, 2001, pp. 2339-2344. Postscript, PDF.
  52. Brett J. Young, Randal W. Beard, Jed M. Kelsey "A Control Scheme for Improving Multi-Vehicle Formation Maneuvers," American Control Conference, Arlington, VA, June 25-27, 2001, pp. 704-709. Nominated for best student paper award. PDF.
  53. Randal W. Beard, Brett J. Young, Wynn Stirling, "Nonlinear Regulation Using the Satisficing Paradigm," 2001 American Control Conference, Arlington, VA, June 25-27, 2001, pp. 4258-4263. PDF.
  54. Jonathan Lawton, Randal Beard, "Elementary Attitude Formation Maneuvers via Behavior-Based Control," AIAA Guidance, Navigation and Control Conference, Denver, CO, Paper no. AIAA-2000-4442:AAO-37144, August 2000. Postscript.
  55. Chris Bailey, Timothy McLain, Randal Beard, "Fuel Saving Strategies for Separated Spacecraft Interferometry," AIAA Guidance, Navigation, and Control Conference, Denver, CO, Paper no. AIAA-2000-4441:AA0-37143, August 2000. Postscript.
  56. Timothy McLain, Randal Beard, "Cooperative Rendezvous of Multiple Unmanned Air Vehicles," AIAA Guidance, Navigation and Control Conference, Denver, CO, Paper no. AIAA-2000-4369:AAO-37126, August 2000. Postscript.
  57. Randal W. Beard, "Robot Soccer: An Ideal Senior Design Experience," American Control Conference, Chicago, Illinois, June, 2000, pp. 3975--3979. Postscript.
  58. Randal W. Beard, Jonathan Lawton, Fred Y. Hadaegh, "A Feedback Architecture for Formation Control," American Control Conference, Chicago, Illinois, June, 2000, pp. 4087--4091. Postscript.
  59. Brett Young, Jonathan Lawton, Randal Beard, "Two Hybrid Control Schemes for Nonholonomic Robots," IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000. Postscript.
  60. Jonathan Lawton, Brett Young, Randal Beard, "A Decentralized Approach To Elementary Formation Maneuvers," IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000. Postscript.
  61.  Jonathan Lawton, Randal Beard, "A Projection Approach to Spacecraft Formation Attitude Control,"  23rd Annual AAS Guidance and Control Conference, AAS 00-011, Breckenridge, Colorado, February, 2000.
  62. S. Seereeram, E. Li, B. Ravichandran, R. Mehra, R. Smith, R. Beard, "Multispacecraft Formation Initialization using Genetic Algorithm Techniques,"  23rd Annual AAS Guidance and Control Conference, AAS 00-033, Breckenridge, Colorado, February, 2000.
  63. Timothy W. McLain, Randal W. Beard, "Nonlinear Robust Missile Autopilot Design Using Successive Galerkin Approximation," Proceedings of the AIAA Guidance, Navigation and Control Conference., Paper no. AIAA-99-3997, Portland, OR, pp. 384-391, 1999. Postscript.
  64. Randal W. Beard, Timothy W. McLain, John T. Wen, "Successive Galerkin Approximation of the Isaacs Equation," IFAC World Congress, Beijing, China, 1999. Postscript.
  65. Jonathan Lawton, Randal W. Beard, Tim McLain, "Successive Galerkin Approximation of Nonlinear Optimal Attitude Control," American Control Conference, San Diego, CA, June, 1999, pp. 4373-4377. Postscript.
  66. Jonathan Lawton, Randal W. Beard, Fred Y. Hadaegh, "An Adaptive Control Approach to Satellite Formation Flying with Relative Distance Constraints," American Control Conference, San Diego, CA, June, 1999, pp. 1545-1549. Postscript.
  67. Timothy W. McLain, Christopher A. Bailey, Randal W. Beard, "Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller," American Control Conference, San Diego, June, 1999, pp. 2847-2851. Postscript.
  68. Randal W. Beard, Fred Y. Hadaegh "Finite Thrust Control for Satellite Formation Flying with State Constraints," American Control Conference, San Diego, CA, June, 1999, pp. 4383-4387. Postscript.
  69. Randal W. Beard, Fred Y. Hadaegh "Fuel Optimized Rotation for Satellite Formations in Free Space," American Control Conference, San Diego, CA, June, 1999, pp. 2975-2979. Postscript.
  70. Timothy W. McLain, Randal W. Beard, "Nonlinear Optimal Control Design of a Missle Autopilot," AIAA Guidance, Navigation and Control Conference, Boston, MA., August, 1998, AIAA paper #98-4321, pp. 1209-1216.
  71. Randal Beard, Wynn Stirling, and Rick Frost, "A Hierarchical Coordination Scheme for Satellite Formation Initialization," AIAA Guidance, Navigation and Control Conference, Boston, MA., August, 1998 AIAA paper #98-4225, pp. 677-685. Postscript.
  72. Timothy W. McLain, Randal W. Beard, "Nonlinar Robust Control of an Electro-hydraulic Positioning System," International Mechanical Engineering Congress and Exposition, The Fluid Power and Systems Technology Division FPST v. 5, pp. xxx-xxx, Anaheim, CA, 1998. Postscript.
  73. Timothy W. McLain, Randal W. Beard, "Nonlinear Optimal Control of an Underwater Robotic Vehicle," International Conference on Robotics and Automation, Leuven, Belgum, May, 1998, pp. 762-767. Postscript.
  74. Jonathan Lawton, Randal W. Beard, "Numerically Efficient Approximations to the Hamilton-Jacobi-Bellman Equation," American Control Conference, Philadelphia, PA, June, 1998, pp. 195-199. Postscript.
  75. Randal W. Beard, Timothy W. McLain, Fred Y. Hadaegh, "Fuel Equalized Retargeting for Separated Spacecraft Interferometry," American Control Conference, Philadelphia, PA, June, 1998, pp. 1580-1584. Postscript.
  76. John D. Kenney, Wynn Sterling, Randy Beard, "Set-Valued Nonlinear Estimation Using the Galerkin Approximation," American Control Conference, Philadelphia, PA, June, 1998, pp. 3580-3584. Postscript.
  77. Randal W. Beard, Timothy W. McLain, "A Practical Algorithm for Designing Nonlinear H-infinity Control Laws," American Control Conference, Philadelphia, PA, June, 1998, pp. 3742-3743. Postscript.
  78. Randal W. Beard, Fred Y. Hadaegh, "Constellation Templates: An Approach to Autonomous Formation Flying," World Automation Congress, Anchorage, Alaska, 1998, ISIAC pp. 177.1-177.6. Postscript.
  79. Timothy W. McLain, Randal W. Beard, "Nonlinear Optimal Control of a Hydraulically Actuated Positioning System," International Mechanical Engineering Congress and Exposition, The Fluid Power and Systems Technology Division FPST v. 4, pp. 163-168, Dallas, TX, 1997.
  80. Jacob Gunther, Randal Beard, Jay Wilson, Travis Oliphant, Wynn Stirling, "Fast Nonlinear Filtering via Galerkin's Method," American Control Conference,Albuquerque, NM, 1997. Postscript.
  81. Randal Beard, George Saridis, John Wen, "Galerkin Approximation of the Generalized Hamilton-Jacobi Equation," IFAC World Congress, San Francisco, 1996, Volume E, pp. 347--352. Postscript.
  82. Randal Beard, George Saridis, John Wen, "Computing Nonlinear Optimal Controls from Existing Stabilizing Controls," Proceedings of the 1995 Conference on Control Applications, pp. 1160-1161, Albany, 1995. Postscript.
  83. Randal Beard, George Saridis, John Wen, "An Iterative Solution to the Finite-Time Linear Quadratic Optimal Feedback Control Problem," Proceeding of the 1995 American Control Conference, Seattle, 1995, pp. 3921-3922. Postscript.
  84. Randal Beard, George Saridis, "A Cost Measure for Efficient Scheduling in Intelligent Machines," Proceeding of the 1993 International Symposium on Intelligent Control, Chicago, 1993, pp. 52-57. Postscript.

Technical Reports

  1. Randal W. Beard, Timothy W. McLain, "Navigation and Control Technologies for Autonomous Micro Vehicles", Technical Report, Brigham Young University, 2005, https://dspace.byu.edu/handle/1877/65
  2. Wei Ren, Randal W. Beard, Derek B. Kingston, "Kalman Consensus Strategies and Their Application to Cooperative Control,"  Technical Report, Brigham Young University, 2005, https://dspace.byu.edu/handle/1877/53
  3. Randal Beard, "Motivation Undergraduate Feedback Control Through Robot Soccer,"  Technical Report, Brigham Young University, 2004, https://dspace.byu.edu/handle/1877/49
  4. Erik P. Anderson, Randal W. Beard, Timothy W. McLain, "Dynamic Trajectory Smoothing for UAVs," Technical Report, Brigham Young University, 2004, https://dspace.lib.byu.edu/handle/1877/22.
  5. Randal Beard, "Architecture and Algorithms for Constellation Control," Technical Report, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr., Pasadena, CA 91109, March, 1998. PDF.

Ph.D. Thesis

  1. Randal Beard, "Improving the Closed-Loop Performance of Nonlinear Systems," Doctoral Thesis, Electrical, Computer and Systems Engineering Department, Rensselaer Polytechnic Institute, October 1995. Postscript.

In Review

  1. Wei Ren, Randal W. Beard, Ella Atkins,  "Information Consensus and its Applications in Multi-vehicle Cooperative Control,"  IEEE Control Systems Magazine.  [Technical Report available at https://dspace.byu.edu/handle/1877/62].

  2. Derek Nelson, Timothy W. McLain, Randal W. Beard, "Experiments in Cooperative Timing for Miniature Air Vehicles,"  AIAA Journal of Aerospace Computing, Information, and Communication.  PDF Preprint.

  3. Stephen Griffiths, Jeff Saunders, Andrew Curtis, Tim McLain, Randal Beard, "Obstacle and Terrain Avoidance for Miniature Aerial Vehicles,"  IEEE Robotics and Automation Magazine.  PDF Preprint.

  4. Derek R. Nelson, Blake Barber, Timothy W. McLain, Randal W. Beard, "Vector Field Path Following for Miniature Air Vehicles,"  IEEE Transactions on Robotics.  PDF Preprint.

  5. Randal W. Beard, "State Estimation for Micro Air Vehicles," Proposed chapter in Innovations in Intelligent UAVs: Theory and Applications, to be published by Publisher: Springer-Verlag, Germany.
  6. D. Blake Barber, Stephen R. Griffiths, Timothy W. McLain, Randal W. Beard, "Autonomous Landing of Miniature Aerial Vehicles," AIAA Journal of Aerospace Computing, Information, and Communication.

     
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